Precise control of piezoelectric actuators used in micropositioning applications is strongly under the effect of internal and external disturbances. Undesired external forces, unmodelled dynamics, parameter uncertainties, time variation of parameters and hysteresis are some sources of disturbances. These effects not only degrade the performance efficiency, but also may lead to closed-loop instability. Several works have investigated the positioning accuracy for constant and slow time-varying disturbances. The main concern is controlling performance and also the presence of time-varying perturbations. Considering unknown source and magnitude of disturbances, the estimation of the existing disturbances would be inevitable. In this paper, a compound disturbance observer-based robust control is developed to achieve precise positioning in the presence of time-varying disturbances. In addition, a modified disturbance observer is proposed to remedy the effect of switching behaviour in the case of slow time variations. A modified Prandtl–Ishlinskii (PI) operator and its inverse are utilized for both identification and real-time compensation of the hysteresis effect. Experimental results depict that the proposed approach achieves precise micropositioning in the presence of estimated disturbances.
Accepted:
Published online:
Hamed Ghafarirad 1; Seyed Mehdi Rezaei 1; Mohammad Zareinejad 2; Ahmed A.D. Sarhan 3, 4
@article{CRMECA_2014__342_1_32_0, author = {Hamed Ghafarirad and Seyed Mehdi Rezaei and Mohammad Zareinejad and Ahmed A.D. Sarhan}, title = {Disturbance rejection-based robust control for micropositioning of piezoelectric actuators}, journal = {Comptes Rendus. M\'ecanique}, pages = {32--45}, publisher = {Elsevier}, volume = {342}, number = {1}, year = {2014}, doi = {10.1016/j.crme.2013.11.003}, language = {en}, }
TY - JOUR AU - Hamed Ghafarirad AU - Seyed Mehdi Rezaei AU - Mohammad Zareinejad AU - Ahmed A.D. Sarhan TI - Disturbance rejection-based robust control for micropositioning of piezoelectric actuators JO - Comptes Rendus. Mécanique PY - 2014 SP - 32 EP - 45 VL - 342 IS - 1 PB - Elsevier DO - 10.1016/j.crme.2013.11.003 LA - en ID - CRMECA_2014__342_1_32_0 ER -
%0 Journal Article %A Hamed Ghafarirad %A Seyed Mehdi Rezaei %A Mohammad Zareinejad %A Ahmed A.D. Sarhan %T Disturbance rejection-based robust control for micropositioning of piezoelectric actuators %J Comptes Rendus. Mécanique %D 2014 %P 32-45 %V 342 %N 1 %I Elsevier %R 10.1016/j.crme.2013.11.003 %G en %F CRMECA_2014__342_1_32_0
Hamed Ghafarirad; Seyed Mehdi Rezaei; Mohammad Zareinejad; Ahmed A.D. Sarhan. Disturbance rejection-based robust control for micropositioning of piezoelectric actuators. Comptes Rendus. Mécanique, Volume 342 (2014) no. 1, pp. 32-45. doi : 10.1016/j.crme.2013.11.003. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.1016/j.crme.2013.11.003/
[1] Observer-based sliding mode control with adaptive perturbation estimation for micropositioning actuators, Precis. Eng., Volume 35 (2011), pp. 271-281
[2] Robust adaptive control of coupled parallel piezo-flexural nanopositioning stages, IEEE/ASME Trans. Mechatron., Volume 14 (2009), pp. 11-20
[3] Interval modeling and robust control of piezoelectric microactuators, IEEE Trans. Control Syst. Technol., Volume 20 (2012), pp. 486-494
[4] Adaptive sliding mode control with uncertainty estimator for robot manipulators, Mech. Mach. Theory, Volume 45 (2010), pp. 80-90
[5] A robust adaptive control for micro-positioning of piezoelectric actuators with environment force estimation, Trans. Inst. Meas. Control, Volume 34 (2011), pp. 956-965
[6] Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties, IET Control Theory Appl., Volume 5 (2011), pp. 2053-2062
[7] Analysis of disturbance observer-based control for nonlinear systems under disturbances with bounded variation, Control, University of Bath, UK, 2004
[8] Smooth touch and force control to unknown environment without force sensor for industrial robot, 11th IEEE Workshop on Advanced Motion Control, 2010
[9] Disturbance-observer-based robust control for time delay uncertain systems, Int. J. Control. Autom. Syst., Volume 8 (2010), pp. 445-453
[10] Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay, IEEE Trans. Ind. Electron., Volume 57 (2010), pp. 1050-1062
[11] A novel robust nonlinear motion controller with disturbance observer, IEEE Trans. Control Syst. Technol., Volume 16 (2008), pp. 137-147
[12] Robust output feedback control of a class of nonlinear systems using a disturbance observer, IEEE Trans. Control Syst. Technol., Volume 19 (2011), pp. 256-268
[13] A nonlinear disturbance observer for robotic manipulators, IEEE Trans. Ind. Electron., Volume 47 (2000), pp. 932-938
[14] Lyapunov-based nonlinear disturbance observer for serial n-link robot manipulators, J. Intell. Robot. Syst., Volume 55 (2009), pp. 135-153
[15] Nonlinear disturbance observer design for robotic manipulators, Control Eng. Pract., Volume 21 (2013), pp. 253-267
[16] Sliding mode control for a class of uncertain nonlinear system based on disturbance observer, Int. J. Adapt. Control, Volume 24 (2010), pp. 51-64
[17] Disturbance observer-based trajectory following control of nonlinear robotic manipulators, Proceedings of the 23rd CANCAM, 2011
[18] Disturbance observer-based control of non-linear haptic teleoperation systems, IET Control Theory Appl., Volume 5 (2011), pp. 2063-2074
[19] Disturbance observer-based control for nonlinear systems, IEEE/ASME Trans. Mechatron., Volume 9 (2004), pp. 706-711
[20] Dynamic controller design for a class of nonlinear uncertain systems subjected to time-varying disturbance, Nonlinear Dyn., Volume 57 (2009), pp. 411-423
[21] Robust control with unknown dynamic estimation for multi-axial piezoelectric actuators with coupled dynamics, C. R. Mecanique, Volume 340 (2012), pp. 646-660
Cited by Sources:
Comments - Policy